Analysis of kinematic dexterity based on a 2 DOF incompletely restrained cable-driven parallel robot

The study is based on a 2 DOF incompletely restrained cable-driven parallel robot whose number of cables is equal to the degrees of freedom of the robot. The main goal of this study is to analyze the kinematic dexterity of the robot according to the available workspace defined by the tensions in the cable, which need to be between a minimal tension to prevent the cable from sagging and a maximal tension to prevent the cable ripping under an imposed handled mass and the own mass of the cables. The dexterity of the mechanism is used for expressing the movement ability of the mechanism among a specified direction inside the total workspace. The condition number of the Jacobian matrix is used for evaluating the dexterity of the mechanism. The study presented above was implemented using MATLAB to solve the equations that compute the local dexterity indices of each point inside the workspace and for implementing a graphical representation of the results.